Two types of Japanese robot arms will be used for the Japanese Experiment Module of the International Space Station. Main Arm, the larger one, carries payloads installed on the exposed area. Small Fine Arm, the smaller one, is attached to the tip of Main Arm when it is used, and handles small-sized on-orbit payloads. Causes identified as aggravating factor of performance include backlash of gears, resonance of arms, and visual measurement error. The results of qualifying tests of these robotic arms show the validity of their design. This paper presents the performance of the robotic arms derived from the test results.